telemetry report

8/6/2019 Telemetry Report

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T.CDOKUZ EYLUL UNIVERSITY

FACULTY OF ENGINEERING

ELECTRICAL & ELECTRONIC ENGINEERING

DEPARTMENT

TELEMETRY SYSTEM

REPORT for FUNDAMENTALSROBOTICS

TECHNICAL SELECTIVE COURSE

by

zgr Mehmet DUMAN

Ahmet Esat GEN

Advisor

Asst. Prof. Dr. AhmetZKURT

December,2010

IZMIR


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ABSTRACT

In this project, a system is created which realizes measuring ofbattery voltage, battery

current and velocity ofmotorthen transmits thedata with RF communication between laptop

andcontrolleddevice. This project is a Fundamental ofRobotics Technical Selective Course

of Dokuz Eylul University, Faculty of Engineering Electric Electronic Engineering

Department.


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TABLE OF CONTENTS

TableofContents

1. INRODUCTION 4

2. METHODOLOGY 52.1Microcontrollers

2.1.1 VoltageMeasuring 62.1.2 CurrentMeasuring 72.1.3 VelocityMeasuring 92.1.4 Communication 102.1.5 Display LCD Screen 11

3. WORK PLAN 12

4. CONCLUSION 12

5. REFERENCES 126. APPENDIX 13

6.1Codes6.2 Data Sheet


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1. INTRODUCTIONTelemetry is explained remote observing and data logging of devices by wireless

communication orstatic lineconnection ofdevices.

In sector usage of telemetry systems are wireless sensor lines, remote system control,

energy counters, security systems, automation ofhome andfactory, logistic support systems

[1] andobserving data ofsolarcar.

This project is the first step ofcreating prototype forSolaris SolarCarTeam telemetry

systems.

Solarcarraces areenduranceevents; thefocus is efficiency andreliability. Forexample,

the Global Green Challenge is a five-day event in which teams cross theentirecontinent of

Australia from north to south. Solarcars aredriven from 8:00 a.m. to5:00p.m., with thefewextra daylight hours used torecharge theonboard batteries. As a result, these vehicles must

also be fast and reliable. Numerous tests and simulations help calculate reliability, while

closemonitoring systems determines efficiency [2].

A solar cars monitoring systemmeasures the voltage, current of essential components

and velocity of car. Power limitations restrict the instrumentation in a solar car, so the

monitoring system continuously transmits data to support vehicle. Those data are then

analyzed and used in planning race strategy [2].


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2. METHODOLOGY

2.1MicrocontrollerMicrocontrollers are themost popular electronic devices for simple use and cheap. So

anyone, who is interesting in electronic, can learn use. A lot ofmicrocontroller types are

designeddue to necessity. But all of them have RAM, ROM and I/O ports in same small

package.

Figure1: Pin diagramof16f877

In project microcontrollerprovides taking current data fromexternal hall effect sensor,

voltagedata by voltagedividercircuit and velocity data with light sensoron devices wheel

then transmits thedata with RF transmitter. In addition firstly this communication is realized

Rs 232 serial port communication andmonitoring Matlab Gui

All experiments are simulated Proteus 7.1 simulation program and C codes arecompiled by

PICC compiler.16F877 microcontroller is loaded with program Brenner8 pic programmer

US-BurnV 1.3 userinterface.


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2.1.1 Voltage Reading

Figure2:Voltage level controller

Dc supply was used insteadofbattery supply in project forlearning usage.16f877 has 10

bit ADC hardware so it has 0.0048V resolution ofquantization. When pic is supplied by 5V

and battery voltage is 100V, if100kohm and5kohm voltagedividercircuit is used in voltage

reading process analog input ofmicrocontrolleris 4,76V.

Figure3: Proteus simulation


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0 0.5 1 1.5 2 2.5 3

2. 5

2. 6

2. 7

2. 8

2. 9

3

3. 1

Hall Effect S ensor

Current(A)

Voltage(V)

2.1.2 Current ReadingHall effect sensor, shunt resistance sensorandcurrent sensorcalibration experiment was

realized todefinecoefficient ofcurrent voltageconverting because piccan readonly analog

voltage values.

Figure4: Ugn3503Hall effect sensorcalibration

Hall effect sensorcreate voltages due tomagneticfieldchanging becausecurrent ofwireon

toroid.

This data show that whilecurrent is changing 0.3A, approximately Vout changes 60mV.

Iin(A) 0 0.3 0.6 0.9 1.2 1.5 1.8 2.1 2.4 2.7 3.0 3.3

Vout(V) 2.44 2.50 2.55 2.62 2.67 2.73 2.78 2.84 2.90 2.95 3.1 3.7


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0 0.5 1 1.5 0

20

40

60

80

10 0

12 0

14 0

16 0Current-Output V oltage Characteristic

Current A

O

utputVoltage(mV)

Figure5 F.w. Bell current sensorcalibration

Current sensor is supplied -15V and +15V and a wire pass through it, it provides

unnecessary tocut the wire.

In this test 3.55Ohmrockresistance areconnectedendof the wire which through sensorso

all Vin values are must be divided 3.55, graphic was created after this process. 1mA

changing creates 1mV changing. This sensormore sensitiveotherone, but extra hardware

must berequired to supply it (7815for+15V and 7915for-15V supplying).

Vi

(V)

,

,7 , ,

,

,9

,

,

3, 3,

3,9

,

,

Vout(

V)

,

9,

33,7

,

9,

,3

7,

3,

99,

9,

,

,

7,


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Shunt resistorwas not tested because its coefficient 1A/1mV, analog input resolution of

16f877 is 4.8mV (10bit A/D 5Volt/210=4.8mV) so4.8A changing effects least significant bit

changing. Its not sensitive. But pic18FXXX series has 12bit A/D, the sensorcan be useful

with these pic series.

2.1.3 VelocityMeasuringTachometers usually are used for velocity measuring. Principles of measuring, light

reflection changing frommotor surface, so we usedcny70reflectiveoptical sensor tocount

circulation. This sensor usually is used line following robots but it can be used for our

prototypecircuit although it is not sensitiveforhigh speedcirculation.

Figure6 :Cny70 Reflectiveoptical sensorapplication.


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We simulated this application on Proteus simulation program, pushing button was used

instead of motor. Interrupts are created to provide round per minute measurement by pic

timerpins.

Figure 7: Measuring pushing button persecond.

2.1.4 Rs232 Serial Communication

Figure 8: RS232communication application. [3]

Data logging and observing are realized between microcontroller and Rs 232 serial port

communication in PICCs Siow interface. In addition Microsoft Hiperterminal program

provides samemonitoring.

rs232(baud=9600,xmit=PIN_C6,rcv=PIN_C7, parity=N, stop=1)


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3. WORK PLAN

4. CONCLUSIONAll weekends we worked but exams terms caused not to suit our work plan. Rf

communication wasnt realized.

Wedevelop RS232 serial communication knowledge although Matlab com4errors. We

couldnt combine all sensors on same pcb but simulatedon Proteus simulation. We waste too

many times on broken sensors how to workand wrong connection. The project is not

resulted. We plan tofinish the project between exam term and halfsemesterifit is allowed.

5. REFERENCES1. Telemetri Sistemleri San.Tic.A.. ProductCatalogue, 20092. McCarthy,L.,Pieper, J.,Wu,C.H.,PerformanceMonitoring in UMRs Solar

Car,2000

3. http://320volt.com/rs232-seri-portun-pic-mikro-denetleyiciler-ile-kullanimi/


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6. APPENDIX6.1Codes of Pic andMatlab

6.1.1 Voltage Reading 6.1.2 Current Reading

#include

#device ADC=10#fuses HS,NOWDT,NOPROTECT

#usedelay(clock=20000000)#usefast_io(b)#usefast_io(a)

unsigned long int bilgi;

float voltaj;

voidmain ( )

{set_tris_b(0x00);set_tris_a(0x0F);

output_b(0x00);

setup_adc(adc_clock_INTERNAL);

setup_adc_ports(ALL_ANALOG);

while(1)

{set_adc_channel(1);

delay_us(50);

bilgi=read_adc();

voltaj=0.00488296*bilgi;

if(voltaj0.006){

output_high(pin_b0);

delay_ms(500);

}elseoutput_high(pin_b1);

delay_ms(500);output_low(pin_b1);

delay_ms(500);

{

}}

}


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6.1.3 RS 232 Serial communication

#include

#fuses HS,NOWDT,NOPROTECT

#usedelay(clock=20000000)

#usefast_io(a)

#usefast_io(b)

#byte port_b =6 //portb nin ramdeki yeri#use rs232(baud=9600, xmit=PIN_C6,

rcv=PIN_C7, parity=N, stop=1)

//#users232(baud=9600,xmit=PIN_B1,rcvvoidmain()

{printf("calisiyor\n\r");

while (TRUE)

{

printf("a");

}}

%% MatlaB codeforexternal

%% Rs232 Communication

clearall;clc;

s = serial('COM4');

fopen(s);

data=zeros(5,16,'double');

fori=1:9

data=fscanf(s,'%d');

mtrx(i,1)=(data(1,i)*1);

end

fclose(s)

6.1.4Matlab Gui


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